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Robots Inside

Part9 - executers

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Part9 - executers

hello ROS2 executers

#python #executers

Table of Content

minimal_timer

import rclpy
from rclpy.node import Node

class MinimalTimer(Node):
    def __init__(self):
        super().__init__("simple_timer")
        timer_period = 1  # seconds
        self.timer = self.create_timer(timer_period, self.timer_callback)
        self.i = 0

    def timer_callback(self):
        self.get_logger().info(f'timer tick: {self.i}')
        self.i += 1


def main(args=None):
    rclpy.init(args=args)
    minimal_timer = MinimalTimer()
    rclpy.spin(minimal_timer)
    minimal_timer.destroy_node()
    rclpy.shutdown()


if __name__ == "__main__":
    main()

minimal_sta

import rclpy
from rclpy.node import Node
from rclpy.executors import SingleThreadedExecutor

class MinimalTimer(Node):
    def __init__(self):
        super().__init__("simple_timer")
        timer_period = 1  # seconds
        self.timer = self.create_timer(timer_period, self.timer_callback)
        self.i = 0

    def timer_callback(self):
        self.get_logger().info(f'timer tick: {self.i}')
        self.i += 1


def main(args=None):
    rclpy.init(args=args)
    minimal_timer = MinimalTimer()
    ste = SingleThreadedExecutor()
    ste.add_node(minimal_timer)
    ste.spin()
    minimal_timer.destroy_node()
    rclpy.shutdown()


if __name__ == "__main__":
    main()

Reference#